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<p>Accelerometer module.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;stdlib.h&gt;</code><br/>
<code>#include &lt;math.h&gt;</code><br/>
<code>#include &quot;<a class="el" href="variables_8h_source.html">variables.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="twimaster_8h_source.html">twimaster.h</a>&quot;</code><br/>
</div>
<p><a href="accelerometer_01-_01_copia_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="define-members"></a>
Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="accelerometer_01-_01_copia_8h.html#a6b05da58a833afa44a56889c577f0507">ACCELEROMETER_H</a></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="accelerometer_01-_01_copia_8h.html#a3d961b25677384479fcd0d413da8ef83">initAccelerometer</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Test which device is mounted on the robot and configure it.  <a href="#a3d961b25677384479fcd0d413da8ef83"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="accelerometer_01-_01_copia_8h.html#afe99cfb7d3e16bf36cc5d29da66ce8bc">initADXL345</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Configure the ADXL345 accelerometer (2g sensitivity, 10 bits resolution).  <a href="#afe99cfb7d3e16bf36cc5d29da66ce8bc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="accelerometer_01-_01_copia_8h.html#a00ac3777f39d082d583911fcedd3a302">initMMA7455L</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Configure the MMA74565L accelerometer (2g sensitivity, 10 bits resolution).  <a href="#a00ac3777f39d082d583911fcedd3a302"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="accelerometer_01-_01_copia_8h.html#a9c7a0d4e693d6dd1fef72e28353324a1">readAccelXY</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="accelerometer_01-_01_copia_8h.html#ab3ef74e35beb0d06aefb2830ff49862d">readAccelXYZ</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="accelerometer_01-_01_copia_8h.html#a12fc697a01e1d04b91df358a472b5b84">computeAngle</a> ()</td></tr>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Accelerometer module. </p>
<dl class="author"><dt><b>Author:</b></dt><dd>Stefano Morgani &lt;<a href="mailto:stefano@gctronic.com">stefano@gctronic.com</a>&gt; </dd></dl>
<dl class="version"><dt><b>Version:</b></dt><dd>1.0 </dd></dl>
<dl class="date"><dt><b>Date:</b></dt><dd>01.02.12 </dd></dl>
<dl class="copyright"><dt><b>Copyright:</b></dt><dd>GNU GPL v3</dd></dl>
<p>The I2C communication is initialized to work with the accelerometer. There are functions to work with both the Freescale MMA7455 and the Analog Device ADXL345 accelerometers. </p>
</div><hr/><h2>Define Documentation</h2>
<a class="anchor" id="a6b05da58a833afa44a56889c577f0507"></a><!-- doxytag: member="accelerometer &#45; Copia.h::ACCELEROMETER_H" ref="a6b05da58a833afa44a56889c577f0507" args="" -->
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          <td class="memname">#define <a class="el" href="accelerometer_01-_01_copia_8h.html#a6b05da58a833afa44a56889c577f0507">ACCELEROMETER_H</a></td>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="a12fc697a01e1d04b91df358a472b5b84"></a><!-- doxytag: member="accelerometer &#45; Copia.h::computeAngle" ref="a12fc697a01e1d04b91df358a472b5b84" args="()" -->
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          <td class="memname">void <a class="el" href="accelerometer_8h.html#a12fc697a01e1d04b91df358a472b5b84">computeAngle</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<a class="anchor" id="a3d961b25677384479fcd0d413da8ef83"></a><!-- doxytag: member="accelerometer &#45; Copia.h::initAccelerometer" ref="a3d961b25677384479fcd0d413da8ef83" args="()" -->
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          <td class="memname">void <a class="el" href="accelerometer_8h.html#a3d961b25677384479fcd0d413da8ef83">initAccelerometer</a> </td>
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          <td class="paramname"></td><td>)</td>
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<p>Test which device is mounted on the robot and configure it. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="afe99cfb7d3e16bf36cc5d29da66ce8bc"></a><!-- doxytag: member="accelerometer &#45; Copia.h::initADXL345" ref="afe99cfb7d3e16bf36cc5d29da66ce8bc" args="()" -->
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          <td class="memname">unsigned char <a class="el" href="accelerometer_8h.html#afe99cfb7d3e16bf36cc5d29da66ce8bc">initADXL345</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Configure the ADXL345 accelerometer (2g sensitivity, 10 bits resolution). </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>1 in case of errors, 0 otherwise. </dd></dl>

</div>
</div>
<a class="anchor" id="a00ac3777f39d082d583911fcedd3a302"></a><!-- doxytag: member="accelerometer &#45; Copia.h::initMMA7455L" ref="a00ac3777f39d082d583911fcedd3a302" args="()" -->
<div class="memitem">
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          <td class="memname">unsigned char <a class="el" href="accelerometer_8h.html#a00ac3777f39d082d583911fcedd3a302">initMMA7455L</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Configure the MMA74565L accelerometer (2g sensitivity, 10 bits resolution). </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>1 in case of errors, 0 otherwise. </dd></dl>

</div>
</div>
<a class="anchor" id="a9c7a0d4e693d6dd1fef72e28353324a1"></a><!-- doxytag: member="accelerometer &#45; Copia.h::readAccelXY" ref="a9c7a0d4e693d6dd1fef72e28353324a1" args="()" -->
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          <td class="memname">void <a class="el" href="accelerometer_8h.html#a9c7a0d4e693d6dd1fef72e28353324a1">readAccelXY</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<a class="anchor" id="ab3ef74e35beb0d06aefb2830ff49862d"></a><!-- doxytag: member="accelerometer &#45; Copia.h::readAccelXYZ" ref="ab3ef74e35beb0d06aefb2830ff49862d" args="()" -->
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          <td class="memname">void <a class="el" href="accelerometer_8h.html#ab3ef74e35beb0d06aefb2830ff49862d">readAccelXYZ</a> </td>
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